A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem
Systems and Control
2021-08-19 v1 Systems and Control
Abstract
This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal. Copenhagen Limit is in the form of a limit and finds the dynamic error in an analytical solution. It can be used to design the controller in a tracking control problem. A numerical example is displayed to illustrate the accuracy of the Copenhagen Limit. Besides, the controller of a UAV (quadrotor) is designed using the Copenhagen Limit in a trajectory-tracking problem. The result of it is also demonstrated and analyzed.
Keywords
Cite
@article{arxiv.2108.07968,
title = {A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem},
author = {Zhe Shen and Takeshi Tsuchiya},
journal= {arXiv preprint arXiv:2108.07968},
year = {2021}
}